GD32_BOOT/Robot_V2/sys/OTA.h

#ifndef __OTA_H
#define __OTA_H

#include "Can.h"
#include "aes128.h"
#include "config.h"
#include "gd32c10x.h"
#include <stdint.h>

class OTAHandler {
  public:
	u32 ota_stateota_time;
	u32 received_size;
	u32 expected_size;

	void init();
	void process();
	bool isActive() const { return ota_state; }

	void handleOTAMessage(u32 id, u8 *data, u8 len);
	void jumpToApplication();

  private:
	u32 ota_time;
	void eraseApplicationArea();
	void writeApplicationData(u32 offset, u8 *data, u32 size);
	bool verifyApplicationData(u32 offset, u8 *data, u32 size);
	
	// Flash操作标志（用于延迟执行，避免中断中耗时操作）
	bool pending_flash_erase = false;
	u32 pending_flash_offset = 0;
	u8 pending_flash_data[64];
	u8 pending_flash_size = 0;
	typedef enum {
		OTA_STATE_IDLE = 0,
		OTA_STATE_WAITING_RANDOM,  // 第二阶段等待随机数
		OTA_STATE_WAITING_CONFIRM, // 等待上位机确认
		OTA_STATE_CHECKING_FIRMWARE,
		OTA_STATE_RECEIVING_FIRMWARE,
		OTA_STATE_FINISHED
	} ota_state_t;
	typedef enum {
		OTA_ERROR_NONE = 0,
		OTA_ERROR_TIMEOUT,
		OTA_ERROR_FLASH_ERROR,
		OTA_ERROR_INVALID_KEY,
		OTA_ERROR_INVALID_PACKET,
		OTA_ERROR_INVALID_HANDSHAKE,
		OTA_ERROR_INVALID_CRC,
		OTA_ERROR_INVALID_SIZE
	} ota_error_t;

	u8 device_uid[12]; // 从GD32 UID寄存器读取
	u8 current_K_session[16];
	u8 nonce_server[16];

	aes128_context aes_ctx; // AES上下文
	ota_state_t ota_state = OTA_STATE_IDLE;
	ota_error_t ota_error = OTA_ERROR_NONE;
};
void getDeviceSerialNumber(u8 *buffer);
void calculate_crc32_with_key(const u8 *key, const u8 *data,
							  u8 *output);
void send_error_frame(u8 error);
bool validateApplication();
fmc_state_enum move_app_data();
u8 OTA_SET(u32 addr, u32 data);

#endif